ur-sock 0.2 → 0.3

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -1,10 +1,13 @@
-# ur-smart
+# ur-sock
 
-RTDE interface implementation in ruby
+Universal robot interface implementation in ruby. This library provides functions using different interfaces of the universal robot. Primary this was designed for the new e-series.
 
 ## Getting Started
 
-Uses the RTDE socekt of universal robots. The commands are sent using TCP socket on port 30002.
+This library uses 3 interfaces of the universal robot:
+* RTDE Interface (port 30002)
+* Primary/Secondary Interface (port 30003)
+* Dashboard Interface (port 29999)
 
 ### Prerequisites & Intallation
 
@@ -12,10 +15,60 @@ To run the server we need the following packages:
 
 
 ```
+#installation of the necessary packages
+gem install xml-smart
 
+#installation of the gem
+gem install ur-sock
 ```
 
+### Interfaces
 
+#### RTDE
+
+The Real-Time Data Exchange (RTDE) interface can be configured with an XML file.
+* Output: robot-, joint-, tool- and safety status, analog and digital I/O's and general purpose output registers
+* Input: digital and analog outputs and general purpose input registers
+
+The complete documentation of all available in- and outputs can be found on:
+https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/
+
+* Loading Config file
+```ruby
+#Loading the config file
+conf = UR::XMLConfigFile.new "test.conf.xml"
+
+#configure output
+output_names, output_types = conf.get_recipe('out')
+```
+
+```ruby
+### Set Speed to very slow
+# speed_names, speed_types = conf.get_recipe('speed')
+# speed = con.send_input_setup(speed_names, speed_types)
+# speed["speed_slider_mask"] = 1
+# speed["speed_slider_fraction"] = 0
+# con.send(speed)
+
+#connecting to the RTDE interfaces on port 30002
+rtde = UR::Rtde.new ('192.168.1.2').connect
+```
+
+### Examples
+
+Loading Config for RTDE interface
+```ruby
+
+```
+Connecting to robot
+
+```ruby
+#connecting to the proimary/secondary interface (psi) on port 30003
+psi = UR::Transfer.new('192.168.1.2').connect
+
+#connecting to the dashboard interface on port 29999
+dash = UR::Dash.new('192.168.1.2').connect
+```
 
 ## Contributing
 
@@ -23,12 +76,11 @@ Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c6
 
 ## Authors
 
-* **Florian Pauker** - ** -
-* **Jürgen Mangler** - ** -
+* **Florian Pauker**
+* **Jürgen Mangler**
 
 See also the list of [contributors](https://intra.acdp.at/gogs/fpauker/ua4ur/contributors) who participated in this project.
 
 ## License
 
 This project is licensed under the LGPL3 License - see the [LICENSE.md](LICENSE.md) file for details
-

data/lib/dashboard.rb

@@ -0,0 +1,141 @@
+#!/usr/bin/env ruby
+require 'socket'        # Sockets are in standard library
+require 'logger'
+require 'uri'
+
+module UR
+
+  class Dash
+    module ConnectionState
+      DISCONNECTED = 0
+      CONNECTED = 1
+      STARTED = 2
+      PAUSED = 3
+    end
+
+    module ProgramState
+      NO_CONTROLLER =   "NO_CONTROLLER"
+      DISCONNECTED =    "DISCONNECTED"
+      CONFIRM_SAFETY =  "CONFIRM_SAFETY"
+      BOOTING =         "BOOTING"
+      POWER_OFF =       "POWER_OFF"
+      POWER_ON =        "POWER_ON"
+      IDLE =            "IDLE"
+      BACKDRIVE =       "BACKDRIVE"
+      RUNNING =         "RUNNING"
+    end
+
+    def initialize(host, logger=Logger.new(STDOUT,level: :INFO))
+      host = '//' + host if host !~ /\/\//
+      uri = URI::parse(host)
+      @logger = logger
+      @hostname = uri.host
+      @port = uri.port.nil? ? 29999 : uri.port
+      @conn_state = ConnectionState::DISCONNECTED
+      @sock = nil
+    end
+
+    def connect
+      return if @sock
+      @sock = Socket.new Socket::AF_INET, Socket::SOCK_STREAM
+      @sock.setsockopt Socket::SOL_SOCKET, Socket::SO_REUSEADDR, 1
+      @sock = TCPSocket.new(@hostname, @port)
+      @conn_state = ConnectionState::CONNECTED
+      @logger.info @sock.gets.strip
+      self
+    end
+
+    def connected?
+      @conn_state != ConnectionState::DISCONNECTED
+    end
+
+    def disconnect
+      if @sock
+        @sock.close
+        @sock = nil
+        @conn_state = ConnectionState::DISCONNECTED
+        @logger.info "Connection closed " + @hostname + ":" + @port.to_s
+      end
+    end
+
+    def start_program
+      @sock.write("play\n")
+      line = @sock.gets.strip
+      if line == "Starting program"
+        @logger.info line
+      else
+        @logger.error line
+      end
+    end
+
+    def power_off
+      @sock.write("power off\n")
+      @logger.info @sock.gets.strip
+    end
+
+    def power_on
+      @sock.write("power on\n")
+      @logger.info @sock.gets.strip
+    end
+
+    def break_release
+      @sock.write("brake release\n")
+      @logger.info @sock.gets.strip
+    end
+
+    def set_operation_mode_auto
+      @sock.write("set operational mode automatic\n") #, where manual is
+      @logger.info @sock.gets.strip
+    end
+
+    def clear_operation_mode
+
+      @sock.write("clear operational mode\n") #, where manual is
+      @logger.info @sock.gets.strip
+    end
+
+    def popupmessage(message)
+      @sock.write ("popup " + message.to_s + "\n")
+      @logger.info @sock.gets.strip
+    end
+    def pause_program
+      @sock.write("pause\n")
+      @logger.info "paused program"
+      @logger.info @sock.gets.strip
+    end
+
+    def stop_program
+      @sock.write("stop\n")
+      @logger.info "stopped program"
+      @logger.info @sock.gets.strip
+    end
+
+    def get_robotmode
+      @sock.write("robotmode\n")
+      line = @sock.gets.strip
+      @logger.info line
+      result = $1.strip if line.match(/^Robotmode:\s(.+)/)
+    end
+
+    def get_loaded_program
+      @sock.write ("get loaded program\n")
+      line = @sock.gets.strip
+      @logger.info line
+      path = $1.strip if line.match(/^Loaded program:\s(.+)/)
+    end
+
+    def load_program (programname)
+      @logger.info "loadprogram"
+      send = "load " + programname + ".urp\n"
+      puts send
+      @sock.write (send)
+      line = @sock.gets.strip
+      @logger.info line
+    end
+
+    def get_program_state
+
+    end
+  end
+
+end

data/lib/{transfer.rb → psi.rb}

@@ -5,7 +5,7 @@ require 'uri'
 
 module UR
 
-  class Transfer
+  class Psi
     module ConnectionState
       DISCONNECTED = 0
       CONNECTED = 1

data/lib/ur-sock.rb

@@ -1,3 +1,4 @@
 require_relative 'conf'
 require_relative 'rtde'
-require_relative 'transfer'
+require_relative 'psi'
+require_relative 'dashboard'

data/ur-sock.gemspec

@@ -1,6 +1,6 @@
 Gem::Specification.new do |s|
   s.name             = "ur-sock"
-  s.version          = "0.2"
+  s.version          = "0.3"
   s.platform         = Gem::Platform::RUBY
   s.license          = "LGPL-3.0"
   s.summary          = "Preliminary release of Universal Robot (UR) Socket Communication."

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ur-sock
 version: !ruby/object:Gem::Version
-  version: '0.2'
+  version: '0.3'
 platform: ruby
 authors:
 - Florian Pauker
@@ -9,28 +9,28 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2019-05-17 00:00:00.000000000 Z
+date: 2019-05-20 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: xml-smart
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
-      - !ruby/object:Gem::Version
-        version: 0.3.6
     - - "~>"
       - !ruby/object:Gem::Version
         version: '0'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.3.6
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
-      - !ruby/object:Gem::Version
-        version: 0.3.6
     - - "~>"
       - !ruby/object:Gem::Version
         version: '0'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.3.6
 description: see https://github.com/fpauker/ur-sock
 email: florian.pauker@gmail.com
 executables: []
@@ -42,9 +42,10 @@ files:
 - README.md
 - Rakefile
 - lib/conf.rb
+- lib/dashboard.rb
+- lib/psi.rb
 - lib/rtde.rb
 - lib/serialize.rb
-- lib/transfer.rb
 - lib/ur-sock.rb
 - ur-sock.gemspec
 homepage: https://github.com/fpauker/ur-sock
@@ -66,8 +67,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubyforge_project: 
-rubygems_version: 2.7.6.2
+rubygems_version: 3.0.3
 signing_key: 
 specification_version: 4
 summary: Preliminary release of Universal Robot (UR) Socket Communication.